EP3373839A4 - Robotic surgical systems and methods for monitoring applied forces - Google Patents

Robotic surgical systems and methods for monitoring applied forces Download PDF

Info

Publication number
EP3373839A4
EP3373839A4 EP16864960.6A EP16864960A EP3373839A4 EP 3373839 A4 EP3373839 A4 EP 3373839A4 EP 16864960 A EP16864960 A EP 16864960A EP 3373839 A4 EP3373839 A4 EP 3373839A4
Authority
EP
European Patent Office
Prior art keywords
methods
robotic surgical
applied forces
surgical systems
monitoring applied
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
EP16864960.6A
Other languages
German (de)
French (fr)
Other versions
EP3373839A1 (en
Inventor
Jason T. Iceman
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Covidien LP
Original Assignee
Covidien LP
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Covidien LP filed Critical Covidien LP
Publication of EP3373839A1 publication Critical patent/EP3373839A1/en
Publication of EP3373839A4 publication Critical patent/EP3373839A4/en
Pending legal-status Critical Current

Links

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/06—Measuring instruments not otherwise provided for
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B34/35—Surgical robots for telesurgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B34/37—Master-slave robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B50/00—Containers, covers, furniture or holders specially adapted for surgical or diagnostic appliances or instruments, e.g. sterile covers
    • A61B50/10—Furniture specially adapted for surgical or diagnostic appliances or instruments
    • A61B50/13—Trolleys, e.g. carts
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
    • G01L5/22—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring the force applied to control members, e.g. control members of vehicles, triggers
    • G01L5/226—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring the force applied to control members, e.g. control members of vehicles, triggers to manipulators, e.g. the force due to gripping
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/06—Measuring instruments not otherwise provided for
    • A61B2090/064—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension

Landscapes

  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Animal Behavior & Ethology (AREA)
  • Veterinary Medicine (AREA)
  • Biomedical Technology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Public Health (AREA)
  • General Health & Medical Sciences (AREA)
  • Robotics (AREA)
  • Pathology (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Manipulator (AREA)
EP16864960.6A 2015-11-12 2016-11-10 Robotic surgical systems and methods for monitoring applied forces Pending EP3373839A4 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US201562254433P 2015-11-12 2015-11-12
PCT/US2016/061221 WO2017083453A1 (en) 2015-11-12 2016-11-10 Robotic surgical systems and methods for monitoring applied forces

Publications (2)

Publication Number Publication Date
EP3373839A1 EP3373839A1 (en) 2018-09-19
EP3373839A4 true EP3373839A4 (en) 2019-07-03

Family

ID=58695243

Family Applications (1)

Application Number Title Priority Date Filing Date
EP16864960.6A Pending EP3373839A4 (en) 2015-11-12 2016-11-10 Robotic surgical systems and methods for monitoring applied forces

Country Status (4)

Country Link
US (2) US10874475B2 (en)
EP (1) EP3373839A4 (en)
CN (2) CN108348296B (en)
WO (1) WO2017083453A1 (en)

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US9326822B2 (en) 2013-03-14 2016-05-03 Hansen Medical, Inc. Active drives for robotic catheter manipulators
US9173713B2 (en) 2013-03-14 2015-11-03 Hansen Medical, Inc. Torque-based catheter articulation
US11213363B2 (en) 2013-03-14 2022-01-04 Auris Health, Inc. Catheter tension sensing
US20140276647A1 (en) 2013-03-15 2014-09-18 Hansen Medical, Inc. Vascular remote catheter manipulator
US9408669B2 (en) 2013-03-15 2016-08-09 Hansen Medical, Inc. Active drive mechanism with finite range of motion
US20140276936A1 (en) 2013-03-15 2014-09-18 Hansen Medical, Inc. Active drive mechanism for simultaneous rotation and translation
US9452018B2 (en) 2013-03-15 2016-09-27 Hansen Medical, Inc. Rotational support for an elongate member
US10046140B2 (en) 2014-04-21 2018-08-14 Hansen Medical, Inc. Devices, systems, and methods for controlling active drive systems
US10569052B2 (en) 2014-05-15 2020-02-25 Auris Health, Inc. Anti-buckling mechanisms for catheters
US9561083B2 (en) 2014-07-01 2017-02-07 Auris Surgical Robotics, Inc. Articulating flexible endoscopic tool with roll capabilities
CN113274140B (en) 2015-09-09 2022-09-02 奥瑞斯健康公司 Surgical covering
US9949749B2 (en) 2015-10-30 2018-04-24 Auris Surgical Robotics, Inc. Object capture with a basket
US10231793B2 (en) 2015-10-30 2019-03-19 Auris Health, Inc. Object removal through a percutaneous suction tube
US9955986B2 (en) 2015-10-30 2018-05-01 Auris Surgical Robotics, Inc. Basket apparatus
EP3373839A4 (en) 2015-11-12 2019-07-03 Covidien LP Robotic surgical systems and methods for monitoring applied forces
US10454347B2 (en) 2016-04-29 2019-10-22 Auris Health, Inc. Compact height torque sensing articulation axis assembly
US11241559B2 (en) 2016-08-29 2022-02-08 Auris Health, Inc. Active drive for guidewire manipulation
WO2018044306A1 (en) 2016-08-31 2018-03-08 Auris Surgical Robotics, Inc. Length conservative surgical instrument
AU2017372911B2 (en) * 2016-12-07 2020-07-02 Orthosoft Ulc Torque sensor sawblade anti-skiving system
US10244926B2 (en) 2016-12-28 2019-04-02 Auris Health, Inc. Detecting endolumenal buckling of flexible instruments
US10543048B2 (en) * 2016-12-28 2020-01-28 Auris Health, Inc. Flexible instrument insertion using an adaptive insertion force threshold
US10792119B2 (en) * 2017-05-22 2020-10-06 Ethicon Llc Robotic arm cart and uses therefor
US10856948B2 (en) 2017-05-31 2020-12-08 Verb Surgical Inc. Cart for robotic arms and method and apparatus for registering cart to surgical table
US10485623B2 (en) 2017-06-01 2019-11-26 Verb Surgical Inc. Robotic arm cart with fine position adjustment features and uses therefor
US11052930B2 (en) * 2017-06-16 2021-07-06 Verb Surgical Inc. Robotic arm cart having locking swivel joints and other position adjustment features and uses therefor
US10913145B2 (en) 2017-06-20 2021-02-09 Verb Surgical Inc. Cart for robotic arms and method and apparatus for cartridge or magazine loading of arms
US11026758B2 (en) 2017-06-28 2021-06-08 Auris Health, Inc. Medical robotics systems implementing axis constraints during actuation of one or more motorized joints
EP3444077A1 (en) * 2017-08-17 2019-02-20 Siemens Healthcare GmbH Method for determining a current position of a robot end effector and robotic system
JP2020533054A (en) * 2017-09-06 2020-11-19 コヴィディエン リミテッド パートナーシップ Movable Surgery Control Console
US10034721B1 (en) * 2017-09-27 2018-07-31 Verb Surgical Inc. Robotic arm cart having shock absorbing mechanisms and uses therefor
CN111770736A (en) 2017-12-11 2020-10-13 奥瑞斯健康公司 System and method for instrument-based insertion architecture
WO2019118767A1 (en) 2017-12-14 2019-06-20 Auris Health, Inc. System and method for estimating instrument location
WO2019133930A1 (en) * 2017-12-29 2019-07-04 Raydiant Oximetry, Inc. Trans-abdominal fetal pulse oximetry and/or uterine tone determination devices and systems with adjustable components and methods of use thereof
JP7463277B2 (en) 2018-01-17 2024-04-08 オーリス ヘルス インコーポレイテッド Surgical robotic system having improved robotic arm
CN112384121A (en) 2018-06-27 2021-02-19 奥瑞斯健康公司 Alignment system and attachment system for medical instruments
JP6650153B1 (en) * 2018-09-06 2020-02-19 リバーフィールド株式会社 Arm device, control method and program
US10820947B2 (en) 2018-09-28 2020-11-03 Auris Health, Inc. Devices, systems, and methods for manually and robotically driving medical instruments
US10611391B1 (en) * 2018-10-05 2020-04-07 Corindus, Inc. Mobile support and storage system for a medical device
WO2020197671A1 (en) 2019-03-22 2020-10-01 Auris Health, Inc. Systems and methods for aligning inputs on medical instruments
US11896330B2 (en) 2019-08-15 2024-02-13 Auris Health, Inc. Robotic medical system having multiple medical instruments
US11737845B2 (en) 2019-09-30 2023-08-29 Auris Inc. Medical instrument with a capstan
JP2023508718A (en) 2019-12-31 2023-03-03 オーリス ヘルス インコーポレイテッド Advanced basket drive mode
US11950872B2 (en) 2019-12-31 2024-04-09 Auris Health, Inc. Dynamic pulley system
CN115315225A (en) * 2020-03-19 2022-11-08 奥瑞斯健康公司 System and method for dynamic adjustment based on load input of robot system
US20210402538A1 (en) * 2020-06-30 2021-12-30 Gulfstream Aerospace Corporation Apparatus and method for holding and/or using a tool
US11609130B2 (en) * 2021-01-19 2023-03-21 Uneo Inc. Cantilever force sensor
TWI835436B (en) 2021-11-30 2024-03-11 美商安督奎斯特機器人公司 Steerable overtube assemblies for robotic surgical systems, control assemblies and method thereof

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WO2007041267A2 (en) * 2005-09-30 2007-04-12 Restoration Robotics, Inc. Automated systems and methods for harvesting and implanting follicular units
US20070156157A1 (en) * 2004-06-15 2007-07-05 Zimmer Gmbh Imageless robotized device and method for surgical tool guidance
US20090088639A1 (en) * 2007-09-28 2009-04-02 Michael Maschke Ultrasound device
US20090248038A1 (en) * 2008-03-31 2009-10-01 Intuitive Surgical Inc., A Delaware Corporation Force and torque sensing in a surgical robot setup arm
US20110106141A1 (en) * 2009-03-24 2011-05-05 Toshio Nakamura Robot system for endoscopic treatment

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EP3373839A4 (en) 2015-11-12 2019-07-03 Covidien LP Robotic surgical systems and methods for monitoring applied forces

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US6723106B1 (en) * 1998-11-23 2004-04-20 Microdexterity Systems, Inc. Surgical manipulator
US20070156157A1 (en) * 2004-06-15 2007-07-05 Zimmer Gmbh Imageless robotized device and method for surgical tool guidance
WO2007041267A2 (en) * 2005-09-30 2007-04-12 Restoration Robotics, Inc. Automated systems and methods for harvesting and implanting follicular units
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US20090248038A1 (en) * 2008-03-31 2009-10-01 Intuitive Surgical Inc., A Delaware Corporation Force and torque sensing in a surgical robot setup arm
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Title
See also references of WO2017083453A1 *

Also Published As

Publication number Publication date
CN108348296B (en) 2021-06-11
WO2017083453A1 (en) 2017-05-18
CN113303915B (en) 2024-04-12
CN108348296A (en) 2018-07-31
EP3373839A1 (en) 2018-09-19
US10874475B2 (en) 2020-12-29
US20180296299A1 (en) 2018-10-18
US11628034B2 (en) 2023-04-18
CN113303915A (en) 2021-08-27
US20210106396A1 (en) 2021-04-15

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